AbstractSensor.java

  1. package org.opentrafficsim.road.network.lane.object.sensor;

  3. import java.util.HashSet;
  4. import java.util.Set;

  6. import nl.tudelft.simulation.immutablecollections.ImmutableHashSet;
  7. import nl.tudelft.simulation.immutablecollections.ImmutableSet;
  8. import nl.tudelft.simulation.language.Throw;
  9. import nl.tudelft.simulation.language.d3.DirectedPoint;

  11. import org.djunits.value.vdouble.scalar.Length;
  12. import org.opentrafficsim.core.dsol.OTSDEVSSimulatorInterface;
  13. import org.opentrafficsim.core.dsol.OTSSimulatorInterface;
  14. import org.opentrafficsim.core.geometry.OTSGeometryException;
  15. import org.opentrafficsim.core.geometry.OTSLine3D;
  16. import org.opentrafficsim.core.geometry.OTSPoint3D;
  17. import org.opentrafficsim.core.gtu.GTUType;
  18. import org.opentrafficsim.core.gtu.RelativePosition;
  19. import org.opentrafficsim.core.network.NetworkException;
  20. import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
  21. import org.opentrafficsim.road.network.lane.CrossSectionElement;
  22. import org.opentrafficsim.road.network.lane.Lane;
  23. import org.opentrafficsim.road.network.lane.object.AbstractLaneBasedObject;

  25. /**
  26.  * <p>
  27.  * Copyright (c) 2013-2016 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
  28.  * BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
  29.  * <p>
  30.  * $LastChangedDate: 2015-09-14 01:33:02 +0200 (Mon, 14 Sep 2015) $, @version $Revision: 1401 $, by $Author: averbraeck $,
  31.  * initial version Dec 31, 2014 <br>
  32.  * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
  33.  * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
  34.  */
  35. public abstract class AbstractSensor extends AbstractLaneBasedObject implements SingleSensor
  36. {
  37.     /** */
  38.     private static final long serialVersionUID = 20141231L;

  40.     /** The relative position of the vehicle that triggers the sensor. */
  41.     private final RelativePosition.TYPE positionType;

  43.     /** The simulator for being able to generate an animation. */
  44.     private final OTSDEVSSimulatorInterface simulator;

  46.     /** The GTU types will trigger this particular sensor. */
  47.     private final ImmutableSet<GTUType> triggeringGTUTypes;

  49.     /** The immutable set for all gtu type. Implements OTS-219. */
  50.     protected static final ImmutableSet<GTUType> GTUTYPE_SET_ALL;

  52.     static
  53.     {
  54.         Set<GTUType> gtuTypeSet = new HashSet<>();
  55.         gtuTypeSet.add(GTUType.ALL);
  56.         GTUTYPE_SET_ALL = new ImmutableHashSet<GTUType>(gtuTypeSet);

  58.     }

  60.     /**
  61.      * Create a sensor on a lane at a position on that lane.
  62.      * @param id String; the id of the sensor.
  63.      * @param lane Lane; the lane for which this is a sensor.
  64.      * @param longitudinalPosition Length; the position (between 0.0 and the length of the Lane) of the sensor on the design
  65.      *            line of the lane.
  66.      * @param positionType RelativePosition.TYPE; the relative position type (e.g., FRONT, BACK) of the vehicle that triggers
  67.      *            the sensor.
  68.      * @param simulator OTSDEVSSimulatorInterface; the simulator (needed to generate the animation).
  69.      * @param geometry OTSLine3D; the geometry of the object, which provides its location and bounds as well
  70.      * @param elevation Length; elevation of the sensor
  71.      * @param triggeringGTUTypes ImmutableSet&lt;GTUType&gt;; The GTU types will trigger this particular sensor
  72.      * @throws NetworkException when the position on the lane is out of bounds
  73.      */
  74.     public AbstractSensor(final String id, final Lane lane, final Length longitudinalPosition,
  75.             final RelativePosition.TYPE positionType, final OTSDEVSSimulatorInterface simulator, final OTSLine3D geometry,
  76.             final Length elevation, final ImmutableSet<GTUType> triggeringGTUTypes) throws NetworkException
  77.     {
  78.         super(id, lane, longitudinalPosition, geometry, elevation);
  79.         Throw.when(simulator == null, NullPointerException.class, "simulator is null");
  80.         Throw.when(positionType == null, NullPointerException.class, "positionType is null");
  81.         Throw.when(id == null, NullPointerException.class, "id is null");
  82.         this.positionType = positionType;
  83.         this.simulator = simulator;
  84.         this.triggeringGTUTypes = triggeringGTUTypes;
  85.         getLane().addSensor(this); // Implements OTS-218
  86.     }

  88.     /**
  89.      * Create a sensor on a lane at a position on that lane at elevation <code>Sensor.DEFAULT_SENSOR_ELEVATION</code>.
  90.      * @param id String; the id of the sensor.
  91.      * @param lane Lane; the lane for which this is a sensor.
  92.      * @param longitudinalPosition Length; the position (between 0.0 and the length of the Lane) of the sensor on the design
  93.      *            line of the lane.
  94.      * @param positionType RelativePosition.TYPE; the relative position type (e.g., FRONT, BACK) of the vehicle that triggers
  95.      *            the sensor.
  96.      * @param simulator OTSDEVSSimulatorInterface; the simulator (needed to generate the animation).
  97.      * @param geometry OTSLine3D; the geometry of the object, which provides its location and bounds as well
  98.      * @param triggeringGTUTypes ImmutableSet&lt;GTUType&gt;; The GTU types will trigger this particular sensor
  99.      * @throws NetworkException when the position on the lane is out of bounds
  100.      */
  101.     public AbstractSensor(final String id, final Lane lane, final Length longitudinalPosition,
  102.             final RelativePosition.TYPE positionType, final OTSDEVSSimulatorInterface simulator, final OTSLine3D geometry,
  103.             final ImmutableSet<GTUType> triggeringGTUTypes) throws NetworkException
  104.     {
  105.         super(id, lane, longitudinalPosition, geometry, DEFAULT_SENSOR_ELEVATION);
  106.         Throw.when(simulator == null, NullPointerException.class, "simulator is null");
  107.         Throw.when(positionType == null, NullPointerException.class, "positionType is null");
  108.         Throw.when(id == null, NullPointerException.class, "id is null");
  109.         this.positionType = positionType;
  110.         this.simulator = simulator;
  111.         this.triggeringGTUTypes = triggeringGTUTypes;
  112.         getLane().addSensor(this); // Implements OTS-218
  113.     }

  115.     /**
  116.      * Create a sensor on a lane at a position on that lane at specified elevation and triggering an all GTU types.
  117.      * @param id String; the id of the sensor.
  118.      * @param lane Lane; the lane for which this is a sensor.
  119.      * @param longitudinalPosition Length; the position (between 0.0 and the length of the Lane) of the sensor on the design
  120.      *            line of the lane.
  121.      * @param positionType RelativePosition.TYPE; the relative position type (e.g., FRONT, BACK) of the vehicle that triggers
  122.      *            the sensor.
  123.      * @param simulator OTSDEVSSimulatorInterface; the simulator (needed to generate the animation).
  124.      * @param geometry OTSLine3D; the geometry of the object, which provides its location and bounds as well
  125.      * @param elevation Length; elevation of the sensor
  126.      * @throws NetworkException when the position on the lane is out of bounds
  127.      */
  128.     public AbstractSensor(final String id, final Lane lane, final Length longitudinalPosition,
  129.             final RelativePosition.TYPE positionType, final OTSDEVSSimulatorInterface simulator, final OTSLine3D geometry,
  130.             final Length elevation) throws NetworkException
  131.     {
  132.         this(id, lane, longitudinalPosition, positionType, simulator, geometry, elevation, GTUTYPE_SET_ALL);
  133.     }

  135.     /**
  136.      * Create a sensor on a lane at a position on that lane at specified elevation and triggering an all GTU types.
  137.      * @param id String; the id of the sensor.
  138.      * @param lane Lane; the lane for which this is a sensor.
  139.      * @param longitudinalPosition Length; the position (between 0.0 and the length of the Lane) of the sensor on the design
  140.      *            line of the lane.
  141.      * @param positionType RelativePosition.TYPE; the relative position type (e.g., FRONT, BACK) of the vehicle that triggers
  142.      *            the sensor.
  143.      * @param simulator OTSDEVSSimulatorInterface; the simulator (needed to generate the animation).
  144.      * @param geometry OTSLine3D; the geometry of the object, which provides its location and bounds as well
  145.      * @throws NetworkException when the position on the lane is out of bounds
  146.      */
  147.     public AbstractSensor(final String id, final Lane lane, final Length longitudinalPosition,
  148.             final RelativePosition.TYPE positionType, final OTSDEVSSimulatorInterface simulator, final OTSLine3D geometry)
  149.             throws NetworkException
  150.     {
  151.         this(id, lane, longitudinalPosition, positionType, simulator, geometry, GTUTYPE_SET_ALL);
  152.     }

  154.     /**
  155.      * @param id String; the id of the sensor.
  156.      * @param lane Lane; the lane for which this is a sensor.
  157.      * @param longitudinalPosition Length; the position (between 0.0 and the length of the Lane) of the sensor on the design
  158.      *            line of the lane.
  159.      * @param positionType RelativePosition.TYPE; the relative position type (e.g., FRONT, BACK) of the vehicle that triggers
  160.      *            the sensor.
  161.      * @param simulator OTSDEVSSimulatorInterface; the simulator (needed to generate the animation).
  162.      * @throws NetworkException when the position on the lane is out of bounds
  163.      */
  164.     public AbstractSensor(final String id, final Lane lane, final Length longitudinalPosition,
  165.             final RelativePosition.TYPE positionType, final OTSDEVSSimulatorInterface simulator) throws NetworkException
  166.     {
  167.         this(id, lane, longitudinalPosition, positionType, simulator, makeGeometry(lane, longitudinalPosition));
  168.     }

  170.     /**
  171.      * Make a geometry perpendicular to the center line of the lane with a length of 90% of the width of the lane.
  172.      * @param lane the lane for which to make a perpendicular geometry
  173.      * @param longitudinalPosition the position on the lane
  174.      * @return an OTSLine3D that describes the line
  175.      * @throws NetworkException in case the sensor point on the center line of the lane cannot be found
  176.      */
  177.     private static OTSLine3D makeGeometry(final Lane lane, final Length longitudinalPosition) throws NetworkException
  178.     {
  179.         try
  180.         {
  181.             double w45 = lane.getWidth(longitudinalPosition).si * 0.45;
  182.             DirectedPoint c = lane.getCenterLine().getLocation(longitudinalPosition);
  183.             double a = c.getRotZ();
  184.             OTSPoint3D p1 = new OTSPoint3D(c.x + w45 * Math.cos(a + Math.PI / 2), c.y - w45 * Math.sin(a + Math.PI / 2), c.z);
  185.             OTSPoint3D p2 = new OTSPoint3D(c.x - w45 * Math.cos(a + Math.PI / 2), c.y + w45 * Math.sin(a + Math.PI / 2), c.z);
  186.             return new OTSLine3D(p1, p2);
  187.         }
  188.         catch (OTSGeometryException exception)
  189.         {
  190.             throw new NetworkException(exception);
  191.         }
  192.     }

  194.     /** {@inheritDoc} */
  195.     @Override
  196.     public final void trigger(final LaneBasedGTU gtu)
  197.     {
  198.         fireTimedEvent(SingleSensor.SENSOR_TRIGGER_EVENT, new Object[] { getId(), this, gtu, this.positionType }, getSimulator()
  199.                 .getSimulatorTime());
  200.         triggerResponse(gtu);
  201.     }

  203.     /**
  204.      * Implementation of the response to a trigger of this sensor by a GTU.
  205.      * @param gtu LaneBasedGTU; the lane based GTU that triggered this sensor.
  206.      */
  207.     protected abstract void triggerResponse(final LaneBasedGTU gtu);

  209.     /** {@inheritDoc} */
  210.     @Override
  211.     public final RelativePosition.TYPE getPositionType()
  212.     {
  213.         return this.positionType;
  214.     }

  216.     /** {@inheritDoc} */
  217.     @Override
  218.     public final OTSDEVSSimulatorInterface getSimulator()
  219.     {
  220.         return this.simulator;
  221.     }

  223.     /** {@inheritDoc} */
  224.     @Override
  225.     public final ImmutableSet<GTUType> getTriggeringGTUTypes()
  226.     {
  227.         return this.triggeringGTUTypes;
  228.     }

  230.     /** {@inheritDoc} */
  231.     @SuppressWarnings("checkstyle:designforextension")
  232.     @Override
  233.     public int hashCode()
  234.     {
  235.         final int prime = 31;
  236.         int result = 1;
  237.         result = prime * result + ((getLane() == null) ? 0 : getLane().hashCode());
  238.         long temp;
  239.         temp = Double.doubleToLongBits(getLongitudinalPosition().si);
  240.         result = prime * result + (int) (temp ^ (temp >>> 32));
  241.         result = prime * result + ((this.positionType == null) ? 0 : this.positionType.hashCode());
  242.         return result;
  243.     }

  245.     /** {@inheritDoc} */
  246.     @SuppressWarnings({ "checkstyle:needbraces", "checkstyle:designforextension" })
  247.     @Override
  248.     public boolean equals(final Object obj)
  249.     {
  250.         if (this == obj)
  251.             return true;
  252.         if (obj == null)
  253.             return false;
  254.         if (getClass() != obj.getClass())
  255.             return false;
  256.         AbstractSensor other = (AbstractSensor) obj;
  257.         if (this.getLane() == null)
  258.         {
  259.             if (other.getLane() != null)
  260.                 return false;
  261.         }
  262.         else if (!this.getLane().equals(other.getLane()))
  263.             return false;
  264.         if (Double.doubleToLongBits(this.getLongitudinalPosition().si) != Double.doubleToLongBits(other
  265.                 .getLongitudinalPosition().si))
  266.             return false;
  267.         if (this.positionType == null)
  268.         {
  269.             if (other.positionType != null)
  270.                 return false;
  271.         }
  272.         else if (!this.positionType.equals(other.positionType))
  273.             return false;
  274.         return true;
  275.     }

  277.     /** {@inheritDoc} */
  278.     @SuppressWarnings("checkstyle:designforextension")
  279.     @Override
  280.     public int compareTo(final SingleSensor o)
  281.     {
  282.         if (this.getLane() != o.getLane())
  283.         {
  284.             return this.getLane().hashCode() < o.getLane().hashCode() ? -1 : 1;
  285.         }
  286.         if (this.getLongitudinalPosition().si != o.getLongitudinalPosition().si)
  287.         {
  288.             return this.getLongitudinalPosition().si < o.getLongitudinalPosition().si ? -1 : 1;
  289.         }
  290.         if (!this.positionType.equals(o.getPositionType()))
  291.         {
  292.             return this.positionType.hashCode() < o.getPositionType().hashCode() ? -1 : 1;
  293.         }
  294.         if (!this.equals(o))
  295.         {
  296.             return this.hashCode() < o.hashCode() ? -1 : 1;
  297.         }
  298.         return 0;
  299.     }

  301.     /** {@inheritDoc} */
  302.     @Override
  303.     public abstract AbstractSensor clone(CrossSectionElement newCSE, OTSSimulatorInterface newSimulator, boolean animation)
  304.             throws NetworkException;

  306. }
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